A suspension positioning manipulator and its control method

Abstract

The invention relates to the field of mechanical arms, in particular to a suspension positioning mechanical arm and a control method, comprising a base, a lifting joint, a first rotating joint, a telescopic joint, a second rotating joint, a third rotating joint, a fourth rotating joint and a In the end operator, the first rotary joint is driven up and down by the lift joint, the telescopic joint is driven to rotate by the first rotary joint, the second rotary joint is driven to move by the telescopic joint, the third rotary joint is driven to rotate by the second rotary joint, and the third rotary joint is driven to rotate. A rotatable support frame is provided, the fourth rotary joint and the end operator are installed on the support frame, and the end operator is driven to rotate by the fourth rotary joint. The middle part of the support frame is provided with a handle I and a force sensor B. A second handle and a force sensor A are arranged at one end connected to the fourth rotary joint. The invention can realize the three-dimensional position dragging, telecentric positioning dragging and single-axis motion control of the mechanical arm, and has the advantages of simple structure, easy operation and precise control.

Description

technical field [0001] The invention relates to the field of mechanical arms, in particular to a suspension positioning mechanical arm and a control method. Background technique [0002] Minimally invasive surgery has the advantages of less trauma, less pain, and faster recovery. However, due to equipment defects in traditional minimally invasive surgery, it is difficult for doctors to achieve hand-eye coordination. Due to the rapid development of robotics, the combination of robotics and minimally invasive surgery is more and more difficult. It is increasingly recognized and widely used by the medical community to improve the surgical environment, in which the telecentric mechanism plays a crucial role in minimally invasive surgery. And then realize the function of improving the surgical environment. [0003] There are mainly two types of existing telecentric mechanisms. The first is to realize telecentric motion through complex mechanisms, such as parallelogram branched c...

AI Technical Summary

Problems solved by technology

[0003] There are mainly two types of existing telecentric mechanism forms. The first type is to realize telecentric motion through complex mechanism forms, such as parallelogram branch chain structure, which has complex structure forms, high requirements for machining accuracy, and difficult assembly. Large, redundant constraints, and bulky; the second form is a serial manipulator structure composed of multiple rotating pairs, which has a large number of joints, spatial singular value points, high cost, and difficult control. question

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